WO2019183742A1 - Capteur de détection d'obstacle de véhicules - Google Patents

Capteur de détection d'obstacle de véhicules Download PDF

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Publication number
WO2019183742A1
WO2019183742A1 PCT/CN2018/080407 CN2018080407W WO2019183742A1 WO 2019183742 A1 WO2019183742 A1 WO 2019183742A1 CN 2018080407 W CN2018080407 W CN 2018080407W WO 2019183742 A1 WO2019183742 A1 WO 2019183742A1
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WO
WIPO (PCT)
Prior art keywords
laser emitting
emitting device
linear laser
linear
reflecting surface
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Application number
PCT/CN2018/080407
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English (en)
Chinese (zh)
Inventor
张舒怡
Original Assignee
张舒怡
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 张舒怡 filed Critical 张舒怡
Priority to PCT/CN2018/080407 priority Critical patent/WO2019183742A1/fr
Publication of WO2019183742A1 publication Critical patent/WO2019183742A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present invention relates to a sensor for detecting obstacles in a vehicle, which is mainly used for detecting obstacles that may be encountered on the entire projection surface in front of the vehicle during movement, and is suitable for automatic driving of vehicles such as automobiles and ships. Or assisted driving.
  • the vehicle detects an obstacle on the road in the moving direction (generally the front)
  • the entire surface of the moving direction the projection surface of the car in front
  • this automatic moving device is not reliable, it is best to use a surface sensor when detecting obstacles in front. For example, will the car hit the upper limit of the marker, the tunnel, and whether the mirror will scratch the pedestrian.
  • the present invention is to solve the problem of covering the sensor, and it is possible to detect an obstacle on the entire surface of the moving direction of the vehicle, and to provide a sensor having such a wide coverage.
  • a sensor for detecting obstacles in a vehicle characterized in that the sensor comprises at least one digital imaging module, a linear laser emitting device, and at least one mirror or reflecting prism or light guiding device having a reflecting surface
  • the linear laser emitting device emits the laser signal to the reflecting surface
  • the one or more reflecting surfaces extend the linear laser light emitted by the linear laser emitting device one or more times by reflection before leaving the entire sensor signal transmitting device.
  • the reflecting surface is an elongated mirror or a reflecting prism or a light guiding tube which is consistent with the opening angle of the linear laser.
  • the direction of the reflecting surface is a plane or a curved surface, and the position of the digital imaging module is substantially set by the vehicle.
  • the digital imaging module is mainly used to take the projection line of the linear laser line in front of the vehicle into the CCD (or CMOS) photosensitive element of the imaging module, according to the position shape of the laser line on the photosensitive element, Determine whether the laser line has a projection line on the ground. Blocked by other objects (obstacle), except for the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored.
  • the reflecting surface at the light exiting of the sensor signal emitting device is a single face.
  • the reflective surface of the sensor signal emitting device at the light exit is a plurality of faces, the plurality of faces reflect the signal to a plurality of directions; the linear laser emitting device may also have a plurality of, each facing one of the plurality of reflective surfaces; Or a linear laser emitting device, the linear laser emitting device comprising a plurality of word line laser emitting heads facing one of the plurality of reflecting surfaces.
  • the linear laser emitting device further includes an up-and-down rotating mechanism or a swinging mechanism, and the rotating mechanism or the swinging mechanism can rotate the linear laser back and forth at an angle to rotate the linear laser toward different positions of the reflecting surface.
  • the reflecting surface of the sensor signal emitting device is also provided with an up-and-down rotating mechanism or a swinging mechanism.
  • the laser line emitted by the linear laser emitting device is parallel to the axle of the vehicle (such as a car), and the rotating mechanism or the swinging mechanism can emit the light.
  • the reflecting surface rotates back and forth at some angle, and by rotating, the linear laser reflected by the reflecting surface at the light exiting is transmitted to different angles in the front horizontal direction.
  • the reflection device at the light exiting of the sensor signal emitting device also has a left-right rotation or swing mechanism.
  • the laser beam emitted by the linear laser emitting device is perpendicular to the ground, and the rotating mechanism can transmit the linear laser reflected from the reflecting surface at the light exiting to the front. Different angles in the vertical direction.
  • the word line laser emitting head having a large exit angle can also lengthen the laser line without reflection, the brightness thereof is also rapidly attenuated, and one of the objects of the present invention is to constrain the line laser emitting device.
  • the opening angle, and the linear laser is substantially expanded to a corresponding length before exiting the vehicle body.
  • the reflecting surface 3 at the light exiting of the sensor signal emitting device is a single face as a whole.
  • the reflecting surface 3 at the light exiting of the sensor signal emitting device is a plurality of faces, and the plurality of faces reflect the signals in a plurality of directions.
  • the linear laser emitting device is a word line laser emitting head, or:
  • the linear laser emitting device is a plurality of word line laser emitting heads arranged side by side on the same plane, and a word line opening angle of each of the word line laser emitting heads is the same In a plane, these juxtaposed line laser heads are placed on a box or frame.
  • the linear laser emitting device is a plurality of point laser emitting heads arranged in a circular shape disposed on a turntable, each of the point laser emitting heads facing away from the center of the circle, disposed in a box or Inside the enclosure, the enclosure or The front part of the casing has a light-transmissive window, and the turntable is driven by a motor.
  • the linear laser emitting device comprises a bottom plate capable of swinging back and forth around a rotating axis at an angle, and at least one layer of a plurality of spot laser emitting heads or a small opening angle are arranged in parallel or radially on the bottom plate.
  • the laser emitting head rotates back and forth, and the point laser emitting head or the small-line laser emitting head projects a laser line composed of a discontinuous point or a short line segment on the reflecting surface, and the driving base plate rotates back and forth repeatedly.
  • An electromagnet that is intermittently powered or a motor that supplies power in both forward and reverse directions.
  • the linear laser emitting device is at least one spot laser emitting head or a small-line laser emitting head that rotates the laser signal on a multi-column or multi-cone mirror that can rotate at a high speed.
  • a linear-like arc is formed on the road by the rotational reflection of a multi-cylindrical or multi-conical mirror.
  • the cross-section of the cylindrical mirror may be a regular polygon or a non-normal polygon, each of the cylindrical or tapered reflecting surfaces may have at least one plane or at least one curved surface, and the mirror rotation is driven by the motor.
  • the linear laser emitting device is at least one spot laser emitting head or a small-line laser emitting head that rotates the laser signal on a mirror that oscillates back and forth around a rotating axis at an angle.
  • a laser line composed of a discontinuous point or a short line segment is projected on the reflecting surface by a mirror swinging and reflecting at a certain angle.
  • the reflecting surface of the mirror is located on the front surface of the mirror, and may be a plane or a plurality of strip planes. Or curved surface, the driving mirror swings back and forth to rotate the electromagnet repeatedly or intermittently to supply the motor.
  • the linear laser emitting device further includes an up-and-down angle deflecting mechanism, and when the deflecting mechanism rotates, the linear laser light emitted from the linear laser device is directed to different horizontal angles in front.
  • the linear laser emitting device further includes an elevating mechanism that raises or lowers a reflecting surface (3) at a light exiting portion of the linear laser emitting device.
  • the linear laser emitting device 1 can also be mounted at a fixed height on a vehicle.
  • the reflecting surface of the sensor signal emitting device is also provided with an up-and-down turning mechanism or a swinging mechanism.
  • the laser line emitted by the linear laser emitting device is parallel to the axle, and the rotating mechanism or the swinging mechanism can rotate the reflecting surface at the light exiting angle by a certain angle. By the rotation, the linear laser light reflected by the reflecting surface 3 at the light exiting is transmitted to different angles in the front horizontal direction.
  • a word line laser emitting head having a large exit angle can immediately lengthen the laser line, its brightness is also rapidly attenuated, and one of the objects of the present invention is to restrain the opening angle of the linear laser emitting device and ensure The brightness of the linear laser and the linear laser is substantially expanded to a corresponding length before exiting the vehicle body.
  • the entire device further includes at least one digital imaging module 2 disposed at or below the linear laser emitting device near the front panel of the vehicle, and the substantially disposed position is a half-height position of the vehicle, which can take into account the viewing angle of the imaging module.
  • the digital imaging module is mainly used to take the linear laser line into the CCD (or CMOS) photosensitive element of the imaging module at the projection position in front of the vehicle, and the laser line can be discriminated according to the position shape of the laser line on the photosensitive element. Whether the projection line on the ground is blocked by other objects (obstacle), except for the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored. Because the general obstacles are grounded (with feet), especially the wheels of the car, which can be detected on the ground in front, then obstacles exist.
  • the general linear laser emitting device 1 is disposed on the top of the vehicle, and the linear laser light emitted is substantially horizontally directed toward the front and rear of the vehicle.
  • 1 (a, b, c, d) is a schematic diagram of discrimination of front obstacles (where a', b', c', and d' are imaging diagrams of a, b, c, and d, respectively).
  • FIG. 2 is a schematic diagram of the distance calculation of the front obstacle in the present invention.
  • FIG 3 (a, b) is a schematic diagram of signal coverage of an autonomous vehicle sensor signal transmitting device (where a is a vehicle not using the present invention, and b is a vehicle in which the sensor of the present invention is provided).
  • FIGS. 4 are schematic structural views of a sensor signal transmitting device of the present invention (where a is a side sectional view, b is a front sectional view of a, and c is another structural sectional view).
  • FIG. 5 (a, b) is a schematic view showing a parallel installation structure of two kinds of linear laser sensor signal transmitting devices of the present invention.
  • FIG. 6 (a, b) is a schematic view showing the mounting manner of a sensor signal transmitting device with rotation according to the present invention (where a is a top view and b is a side view of a).
  • FIG. 7 (a, b, c) is a schematic diagram of the operation of the sensor signal transmitting device with rotation (a partial enlarged view in the circle).
  • FIG. 8 (a, b, c, d, e, f) is a schematic diagram of a rotating mechanism.
  • FIG. 9 (a, b) is a schematic view of the operation of a linear laser emitting device with a lifting rod on a car (a partial enlarged view in the circle of 13a).
  • FIG. 10 (a, b, c) is another schematic diagram of the operation of the lifting rod mounted on the car (14c is a partial enlarged view).
  • FIG. 11 is a schematic view of a lifting frame.
  • a sensor for detecting obstacles in a vehicle characterized in that the sensor comprises at least one digital imaging module 2, a linear laser emitting device 1 facing the ground in front, and at least one reflection having a reflecting surface 3
  • the optical path before the transmitting device is extended one or more times by reflection, and the reflecting surface 3 is an elongated mirror 31 or a reflecting prism 32 or a light guiding tube that coincides with the opening angle of the linear laser light 1, and the reflecting surface 3 is long.
  • the strip direction is flat or curved.
  • the at least one digital imaging module 2 is disposed at a position lower or higher than the linear laser emitting device 1 near the front panel of the vehicle, and the substantially set position is generally a half-height position of the vehicle, which can balance the viewing angle of the imaging module,
  • the imaging module is mainly used for taking the projection line of the linear laser line in front of the vehicle into the CCD (or CMOS) photosensitive element of the imaging module, and according to the position shape of the laser line on the photosensitive element, the laser line can be discriminated on the ground.
  • the projection line is obscured by other objects (obstacle), except for the laser line (cooperative target), the imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored, because the general obstacles are grounded (footed) ), especially the wheels of a car, which can be detected on the ground in front, then obstacles exist. .
  • the laser line on the ground is stably projected at a fixed position (because, for example, the road has a certain slope, the projected laser line is not necessarily a straight line), as shown in the figure la/la', there is an obstacle protrusion.
  • the oblique downward angle of the linear laser emitting head and the linear laser line projection position on the photosensitive element it is even possible to calculate the position of the obstacle from the vehicle, as shown in FIG. 2 of the linear laser emitting device.
  • the light exit is A (the height from the ground is AB), and the emitted light shines on the road at point D. Once it encounters an obstacle on the road (such as a roadblock), part of the light will be blocked, and a bright spot (line segment) appears at L.
  • the center point of the lens E of the imaging device is 0, the height of the point from the ground is OG; the horizontal direction of the photosensitive element C (CCD) corresponds to the Q point at 0 o'clock, the imaging point of the D point at C is the R point, and the L point is at the C point.
  • the upper imaging point is P point (in fact, D, L, N, R, and P points are not in a plane, the projection plane of these points in the figure), and the DR intersects the obstacle LM (takes its height) at the N point.
  • the angle between AD and the ground is oc, and the angle between DR and the ground is (3.
  • the magnification ratio calculated according to focal length and magnification is k, where AB, OG, GB, OQ are known (fixed value), RQ , PQ according to the density of pixels (and the distance between pixel points)
  • the absolute length on C can be calculated.
  • the actual length (when substituting the formula) is also multiplied by the magnification ratio k, which is known (known), assuming that the distance of the obstacle LM from D is X, ie the length of the DM.
  • the default magnification ratio k is 1 for convenience:
  • ⁇ ⁇ ⁇ DG OG*OQ/RQ
  • DG-x is OG*OQ/RQ-RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ)) is an obstacle from the front end of the vehicle (lens) the distance.
  • FIG. 3a As shown in FIG. 3a, if a linear laser emitting device 1 facing the front lower side is disposed at the top of the vehicle, a line is left on the flat ground in front according to the opening angle of the linear laser emitting device, and the transmitting point
  • the line to the ground forms an isosceles triangle, that is, the signal range of the sensor is the range of the triangle.
  • the two sides of the upper side of the vehicle part are located outside the opening angle of the linear laser emitting device (as shown in the figure).
  • the shaded part of 3a does not completely cover the projection surface of the entire vehicle in front. If only this sensor is used, the sides of the vehicle may hit an obstacle.
  • the present invention is to expand a point at the top to at least the same traffic.
  • the top of the tool is the same width and can be extended to a line of the same width at the widest point (equivalent height) of the vehicle.
  • the position of a linear laser emitting device is moved to the other position on the same plane through at least one reflecting surface 3.
  • a linear laser emitting device 1 is disposed inside the vehicle, the linear laser emitting device The laser emitting head of 1 faces the reflecting surface 3 and is reflected by the at least one reflecting surface 3 to extend the expansion. If there are a plurality of mirrors or reflecting prisms with reflective surfaces 3, generally, when the last reflecting surface 3 emits light, the linear laser light emitted at the almost equal height of the vehicle can be extended to a length equal to that of the approaching vehicle.
  • the linear laser can be extended to be close to the vehicle width
  • the purpose of the length, equal width is to ensure that all objects in front of the vehicle, such as vehicles that are likely to collide with the moving vehicle, are illuminated by the linear laser and can be projected on the imaging device.
  • a reflecting surface 3 may also be a cylindrical reflecting prism 32 (ie, the reflecting surface 3 is present on one elongated surface of the cylindrical reflecting prism 32), and this prism may be used to line the linear laser emitting head 1.
  • the laser line of the laser beam is transmitted on the one hand by a reflection to extend a longer distance (expansion) before exiting the vehicle, and is directed to the front lower side of the vehicle, and on the other hand, the prism 32 refracts a combination of linear laser light obliquely above the vehicle.
  • the device is a diagonally upward line to indicate whether a word line segment will be displayed on the imaging device between the height of the vehicle plus the linear laser emitting device, and if so, Obstacles can also be tested for safe passage when the vehicle crosses bridges, height limit poles, etc.
  • a linear laser emitting head oriented obliquely upward may be separately provided without passing through the prism.
  • the at least one reflective surface 3 may also be a reflective prism 32 plus at least one mirror 31 or total reflection prism 3 2, and the incident laser light emitted by the linear laser emitting device 1 is emitted from the mirror 31 or the total reflection prism 32 toward the light.
  • the reflection prism 32 at the end finally emits light from the reflection prism 32; or from one mirror 31 to the other mirror 31, and after multiple reflections, the light is emitted from the reflection prism 32, as shown in Fig. 4(c).
  • the at least one reflective surface 3 may also be a plurality of mirrors 31 or total reflection prisms 32, and the incident laser light is emitted from one mirror 31 or total reflection prism 32 to the other mirror 31 or the total reflection prism 32, and is reflected multiple times. Light is then emitted from the last mirror 31, as shown in Fig. 4 (a, b).
  • the plurality of reflecting surfaces 3 may also be curved narrow-width wide cylindrical light pipes, and the light guiding tubes are narrowed and widened (refer to the line expanding direction of the linear laser emitting device 1 instead of diverging and thickening)
  • the direction of the widened) curved column (equivalent to rolling an isosceles triangular light-transparent plate from the top corner from the inside to the outside), the width of the narrow width (ie the apex angle of the isosceles triangle) by the line
  • the angle of the linear laser emitted by the laser emitting device determines that the linear laser is generally confined in the cylindrical light guide tube, and the bending may be intermittent bending (partial straight tube, partial curved tube) or continuous bending, curved column
  • the shape of the light pipe and the linear laser correspond to the relationship between the fiber and the laser (point shape), which can make the laser signal continuously change direction in the light pipe.
  • the meaning of the line laser is to change direction in the light pipe.
  • the length of the linear laser is extended, and for the continuously curved light pipe, the installation space can be saved, and the curved light guide tube can not only transmit a line-shaped laser but also a multi-line linear laser.
  • the reflecting surface 3 of the light emitting portion of the sensor signal emitting device (the last mirror 31 or the reflecting prism 32) is a single surface (a plane or a curved surface (a smooth transition of the section line of the curved reflecting surface 3)), and this reflecting surface 3 will
  • the linear laser light emitted by a linear laser emitting device 1 is reflected to the front of the vehicle, or a plurality of linear laser beams from different directions are reflected to different angles in front of the vehicle.
  • the reflecting surface 3 at the light exiting of the sensor signal emitting device is a plurality of planes (a plurality of planes (the cross section is a broken line) or a plurality of curved surfaces), and the linear laser emitting device 1 is also a plurality of (normally arranged in parallel) ), each reflecting surface reflects a laser line emitted by a linear laser emitting device, and the plurality of faces reflect signals of the plurality of linear laser emitting devices 1 to a plurality of distances on the road ahead, as shown in FIG.
  • the reflecting surface 3 at the surface is a plurality of reflecting prisms (polyprisms) 32, in addition to reflecting a plurality of (generally parallel) linear laser beams (a, b, c) emitted by the linear laser emitting device 1 (a', b) ', c'), one of them can be Road (a) Refraction (a") is emitted upwards and upwards, as shown in Figure 5 (a).
  • the reflecting surface 3 at the light exiting of the sensor signal emitting device is also provided with an up-and-down rotating mechanism or a swinging mechanism 5, and the laser line emitted by the linear laser emitting device is parallel to the axle of the vehicle, and the rotating mechanism or the swinging mechanism 5 can discharge the light.
  • the reflecting surface rotates at some angle. By rotating, the linear laser reflected by the reflecting surface 3 at the light exiting is transmitted to different angles in the front horizontal direction, as shown in Figures 6, 7, and 8, such as autopilot (or with assisted driving device).
  • the safe braking distance need to detect distant (such as 100 meters away) or medium distance (30 ⁇ 50 meters), near (within 10 meters) different obstacles, this turning (pendulum) moving direction is the laser line from near The far-distance rotation, or the vehicle detects whether there is an obstacle sitting on the ground within the field of view of the image processing module through the turning mechanism, and the turning direction is upward (pendulum) to
  • the reflecting surface can at least reflect the linear laser to the range of the front of the vehicle, and automatically drive (or with the auxiliary driving device)
  • the vehicle also detects whether there are obstacles such as beams and branches below the height of the vehicle through the turn (pendulum). As shown in Fig.
  • the linear laser incident on the reflecting surface of the light exit is slightly inclined.
  • the front end of the reflecting surface at the light exiting is slightly curved (expanding the incident light to a larger angle)
  • the rotating shaft 30 of the reflecting device of the reflecting surface at the entire light exiting portion is located at the middle end or the rear end of the reflecting device, and the rotating shaft
  • the linear laser is projected onto the obstacle near the nearest 90 degrees to the far side, which is slightly higher than the highest projection of the front line of the vehicle (the incident linear laser may not hit the reflective surface at all). Directly to the front).
  • the rotating shaft 50 of both ends (or at least one end) of the reflecting means of the reflecting surface 3 at the entire light exit is held by the support arm 59 (can be clamped by a copper sleeve or a bearing), and the rotation of the intermediate position (or another section)
  • a gear is disposed on the shaft 50, and meshes with a gear on the drive shaft 51 through a transition gear 52.
  • the drive shaft is driven by a servo motor, a stepping motor or a DC motor with a reduction gear.
  • the motor shaft of the motor is inserted; the rotating shaft of the reflecting device of the reflecting surface 3 at the entire light exiting position can also be the output shaft of the motor, or there is only one gear between them.
  • the tail portion of the reflecting surface 3 of the entire light exiting portion may also be provided with an arc-shaped rack 53 that meshes with the gear driven by the driving shaft 51, and is driven to rotate by a certain angle by a rack and pinion, as shown in FIG. 8(b);
  • Arc-shaped scroll teeth can be arranged to mesh with a motor-driven turbine to drive a certain angle by means of a worm gear.
  • the advantage of the worm gear is self-locking and large reduction ratio.
  • the reflecting surface 3 of the entire light exiting portion can also be stretched and recovered by the cam 54 (eccentric wheel) rotating and the spring 55 Make a reciprocating (swinging) motion, as shown in Figure 8 (c).
  • the reflecting surface 31 of the entire light exiting portion can also be driven to reciprocate by means of the crank 56 link 57, as shown in Fig. 8(d), in which two positions of the reflecting surface 31 after reciprocating motion are drawn.
  • the reciprocating (oscillating) motion of the reflecting surface at the entire light exiting position can also be controlled by the on and off of the electromagnet 58, as shown in FIG. 8(e), the electromagnet 58 is disposed on one of the left and right sides of the bottom of the reflecting surface (or On both sides, when the power is on, the electromagnet 58 attracts the iron block at the bottom of the reflecting surface, and when the power is off, the reflecting surface is pulled back by the spring 55; or the electromagnet 58 is placed above the reflecting surface, as shown in Fig. 8 (f). When the electromagnet 58 is energized, the iron block above the reflecting surface is sucked, and when the electromagnet 58 is powered off, the reflecting surface rotates back due to gravity.
  • the reflecting surface 3 at the light exiting portion may also be a plane, and the rotating axis of the reflecting surface 3 is located near (or coincident with) the line where the linear laser is projected on the reflecting surface 3, and the driving portion of the rotating shaft is at the left and right ends of the reflecting plate (if One end of the up-and-down rotation mounting method of Fig. 8 and the other end are fixed to the rotating support shaft by bearings.
  • the linear laser emitting device 1 further includes an up-and-down rotating mechanism or a swinging mechanism 5, and the rotating mechanism or the swinging mechanism 5 can rotate the linear laser back and forth at an angle to rotate the linear laser toward different positions of the reflecting surface 3, and Reflected to different angles in front.
  • the sensor signal transmitting device may also be a linear laser emitting device 1 hitting a convex mirror 35 or a concave lens for expanding (requiring that the expansion angle of the line becomes larger, that is, the length of the laser line becomes longer, and the line itself does not need to be Thickening, it is preferable to use a strip-shaped convex mirror 35, that is, the convex mirror 35 is flat in a narrow direction, and the long direction is an arc surface), and then the reflecting surface 3 in front of the entire sensor signal transmitting device is processed into a concave mirror.
  • the focus includes the expansion angle of the line becomes smaller, the laser line becomes thinner (the curved surface is spherical), of course, the expansion angle can be reduced, that is, the narrow direction of the concave mirror 34 is flat, the long direction It is the arc surface, as shown in Figure 3 (b).
  • the linear laser emitting device 1 may be at least one word line laser emitting head, especially for a slow moving vehicle, a one-line laser emitting head is not far away (related to the moving speed of the vehicle) Also related to the angle of view of the digital imaging module 2) the brightness of the projection line of the ground is sufficient, and a word line laser emitting device extends the laser line emitted by the word line laser emitting head through at least one reflecting surface 3, this
  • the reflecting surface may be an elongated mirror 31 or a reflecting prism 32.
  • the reflecting surface of the entire linear laser emitting device has a plurality of strip surfaces, and the surface may be a flat surface or a concave surface (refocusing once when the light is emitted)
  • the remaining reflective surface may be a strip-shaped mirror 31 or a reflective mirror 32, and the mirror 31 is a mirror (a surface-polished metal device having a regular reflective property and a metal-plated reflective film) (dustproof, surface anti-corrosive) or metal, plastic products (lighter)), usually glass (or resin) mirror.
  • a mirror a surface-polished metal device having a regular reflective property and a metal-plated reflective film
  • dustproof, surface anti-corrosive or metal, plastic products (lighter)
  • glass (or resin) mirror usually glass (or resin) mirror.
  • the linear laser emitting device 1 may be such that a plurality of (at least two) word line laser emitting heads having a smaller opening angle may be disposed on the same plane, and a word line laser emitting head is in the same direction, that is, each The sides of the opening angle of the word line laser emitting head are on the same plane, and a plurality of emitting heads are used to extend a word line and constrain the opening angle of each of the word line laser emitting heads, and a word line is formed by at least one reflecting surface 3.
  • the laser line emitted by the laser emitting head is extended, and these juxtaposed line laser emitting heads are disposed on a box or frame.
  • the linear laser emitting device 1 is a plurality of point laser emitting heads arranged in a circular shape disposed on a turntable, each of the point laser emitting heads facing away from the center of the circle, and disposed in a box or a cover Inside the casing, there is a light-transmissive window in the front part of the cabinet or the casing, and the turntable is driven by a motor. That is, a plurality of spot laser emitting heads (or a line-shaped laser emitting head with a small opening angle) are arranged in a ring shape on a rotatable disk, by rotating and reflecting and reflecting the reflection of the reflecting surface 3, on the road. Form an arc similar to a straight line.
  • the rotatable disk may be arranged in a plurality of layers of a plurality of spotted laser emitting heads (or a single-line laser emitting head with a small opening angle), each layer rotating synchronously in one direction).
  • the linear laser emitting device comprises a bottom plate capable of swinging back and forth around a rotating axis at an angle, and the bottom plate is arranged in parallel or radially at least one layer of a plurality of spot laser emitting heads or a small angle of laser beam emission.
  • the head by rotating back and forth, a point laser head or a small-line laser beam emitting head and a reflection of the reflecting surface 3 projecting a laser line composed of a discontinuous point or a short line segment on the front projection surface, driving
  • the bottom plate rotates back and forth to rotate the electromagnet (one on one side or two on both sides) or the motor in continuous supply in the forward and reverse directions (ie, continuous power supply, periodically changing direction). It is also possible to provide a plurality of multi-point laser emitting heads (or a single-line laser emitting head in the same direction) on this panel, and each layer is synchronously oscillated.
  • the linear laser emitting device may also be at least one spot laser emitting head or a word line laser with a small opening angle
  • the head shoots the laser signal on a multi-cylindrical or multi-cone mirror that can rotate at high speed. Through the rotary reflection of the multi-column or multi-cone mirror and the reflection of the reflecting surface 3, a straight line is formed on the road.
  • the cross-section of the cylindrical mirror may be a regular polygon or a non-normal polygon, each cylindrical or tapered reflecting surface may be at least one plane or at least one curved surface, and a plurality of juxtaposed point laser emitting heads (or corners may be used)
  • the small one-line laser emitting head) is struck on the same cylinder.
  • a plurality of juxtaposed point-like laser emitting heads may be parallel to each other at different points (lines), or a plurality of juxtaposed point-like laser emitting heads may be struck at the same point (line) in different directions.
  • the linear laser emitting device is at least one spot laser emitting head or a small-line laser emitting head that rotates the laser signal on a mirror that oscillates back and forth around a rotating axis at a certain angle, through reflection
  • the mirror swings back and forth at a certain angle and the reflection of the reflecting surface 3, and a laser line composed of a discontinuous point or a short line segment is projected on the front projection surface, and the reflecting surface of the mirror that swings back and forth is located at the front surface of the mirror. (toward the side of the laser emitting head), it can be a plane or a plurality of strip planes or curved surfaces.
  • a plurality of parallel point-like laser emitting heads or a word line laser emitting head with a small opening angle
  • the mirrors that swing left and right can be driven by a motor (continuous power supply in the forward and reverse directions). It can be driven by an electromagnet (one on one side or two on both sides), and there is a special piezoelectric yaw mirror in the oscillating mirror, which can also be used here.
  • the linear laser emitting device comprising a plurality of word line laser emitting heads facing one of the plurality of reflecting surfaces 3, that is, a plurality of one-line laser emitting heads synthesizing one line Laser emitting device 1, the plurality of word line laser emitting heads are oriented according to different orientations, one word line laser emitting head per layer or two layers per layer (or more, one word line laser emitting head per layer) The line of the word is in the same plane.
  • a multi-layer linear laser emitting device 1 may be provided, and one or more word line laser emitting heads are disposed on one layer (evenly spaced, one word per word)
  • the line angle of the line laser emitting head is in the same plane), each layer is parallel on different reflection surfaces, or cross-shaped on the same reflection surface, or parallel on the same reflection surface, after reflection
  • the linear laser is then reflected in multiple directions by at least one mirror (or reflective prism) having different reflecting surfaces.
  • the generation of the laser line of the linear laser emitting device is not limited to the above several methods, and the purpose is to produce a laser line capable of projecting the linear laser light onto the reflecting surface 3, and is not limited to a straight line, and the arc may be used. also may An infrared laser signal emitting head that is invisible to the human eye is used as the linear laser emitting device.
  • the laser signal in the far side is weak, and it is not necessarily able to be projected on the photosensitive element.
  • the green laser is relatively bright, and the linear laser emitting head with higher brightness can be used.
  • the variable power amplifier powers the laser emitter, boosts the power in the strong sunlight, enhances the brightness of the linear laser, or provides multiple laser heads of different powers in parallel.
  • the brightness (power) is maximum.
  • Laser head operation generally strong, brightness (power) medium laser head operation, no sunlight, brightness (power) minimum laser head operation, can be manually selected or automatically selected (via sensitized sensor) to image module sensitization The component can feel the shadow of the linear laser.
  • the laser color of the linear laser emitting heads of three (or more) different horizontal angles respectively disposed toward the long distance, the medium distance, and the close distance after the reflection is preferably different.
  • the preferred mode of use is that the vehicle is driven at a high speed by using a plurality of line lasers or a line laser (high brightness) with a small number of dots or corners, and facing the farther road, the vehicle is traveling at a medium speed.
  • a plurality of point lasers in parallel or single or multiple linear lasers with a small angle of angle or a normal one-line laser toward the middle distance
  • the vehicle uses a low-speed single or multiple line lasers ( Towards a close distance).
  • the reflective surface 3 can be mounted at a fixed height on the vehicle.
  • the reflecting surface 3 can be arranged on the top cover of the vehicle, or can be supported by a fixing bracket (jack), or can also include a reflecting surface 3 lifting mechanism (the height of the adjustable reflecting surface 3 on the vehicle can be adjusted) ).
  • the horizontal tilt angle that needs to be oriented before and after the lifting and lowering of the reflecting surface 3 of the lifting mechanism can be adjusted by the level and the motor-driven angular rotation adjusting device or by a mechanical gyroscope, regardless of the angle at which the top of the lifting rod is tilted or raised and lowered.
  • the reflecting surfaces 3 are all oriented toward the front lower fixed position.
  • the lifting rod can be arranged in the A-pillar (or B, C-pillar) of the automobile, and can be arranged in one column on one side, and the lifting rod itself has an inverted "L" shape, or two disposed on both sides.
  • the lifting rod In the column (the drive shaft of the lifting mechanism 9 extends from one side to the other side, or the driving motor that rotates synchronously on both sides), the lifting rod itself has an "n" shape, and the single rod can be in a "T" shape, Lifting in the generator box or trunk (this pole can be as thin as possible, at least not affecting the horizon), or in a "T" shape separately placed on one side of the A-pillar (or B, C-pillar), the lifting rod itself has Tooth or thread, the lifting mechanism 9 is a motor-driven gear or screw that can lift the height of the linear laser generating device 1 as the microscope stage (or lens) is lifted, as shown in Fig.
  • the linear laser emitting device 1 can be disposed in the vehicle body. Above the carriage cover or in the engine compartment (or tailgate), the face of the linear laser is parallel to the lifter The direction of the drop, and finally to the reflecting surface 3 at the top of the lifting rod.
  • the bracket can also be set as an electric (or hydraulic or pneumatic) lifting bracket, such as an electric lifting antenna or a lifting mast, when the vehicle is driving at a high speed, in order to be in the laser signal
  • an electric lifting antenna or a lifting mast when the vehicle is driving at a high speed, in order to be in the laser signal
  • the imaging module clearly distinguishes the point on the road or the point on the obstacle.
  • the reflection surface at the light exit can be greatly increased and lowered.
  • Electric lifting antennas or lifting masts have mature technology, but it is best to use a code wheel or a hole type (counting with photoelectric pair tube or mechanical switch) when driving the motor. This is a space-saving way to know the reflection.
  • the height of the face 3 can be directly raised and lowered to the maximum height (fixed value) by the detection switch, and the drop is also detected by the switch.
  • the mast can be lowered and lowered on the roof at low and medium speeds (to reduce driving resistance, lower the height of the car, etc.). At high speed, the mast is lifted by one or two (one on each side) top 92
  • the jack 92 can be electrically or pneumatically or hydraulically driven.
  • the gear 91 (partial tooth) at the bottom of the mast is driven by a gear with a large reduction ratio, and a protrusion 95 is also provided at the bottom of the mast, at the extreme height of the mast.
  • the mast can be one ("T" shape) or "n" shape (in order not to obstruct the sunroof), the linear laser emitting device 1 can be placed on the car cover of the car body to lift the root of the mast, the linear laser The face of the opening angle is parallel to the lifting mast and rotates synchronously with the lifting mast to ensure that the linear laser emitting device 1 finally strikes the reflecting surface 3 at the top of the lifting mast.
  • FIG. (with housing) 96 drives a screw 93, the distal end of the screw 93 is a polished rod, one side of the lifting platform is fixed by a bearing 97, and the proximal end drives the lifting platform (rack) by driving a nut 94 disposed on the other side of the lifting platform.
  • the lifting frame has various forms of driving, and the "lifting table” search network can find a lot
  • the driving rod including the screw nut
  • the lifting table is symmetrically distributed because of the left and right sides, in order to synchronize
  • the drive can also be driven on both sides pneumatically or hydraulically
  • the linear laser emitting device 1 can be placed between the two fixed support frames at the bottom of the lifting platform, and the plane of the angular angle of the linear laser is parallel to the movement of the lifting frame Bracket (fixed on the rotating shaft 98/99 at the bottom of the movable bracket (on one of the two), moves synchronously with the movable rotating shaft 98 at the bottom of the movable bracket and rotates or fixes the rotating shaft 9 9 synchronous rotation), a vertical reflector 31 with a mirror is arranged near the nut 94 or the bearing 97 on the screw 93, and the linear laser passes through the reflection plate.
  • the final shot is on the reflecting surface 3 at the top of the lifting frame.
  • the linear laser is emitted vertically upward at the bottom of the rear portion of the lifting platform, and the upper portion of the rear portion of the lifting platform has a reflecting plate of about 45 degrees, and the reflecting plate reflects the linear laser light from the lower portion to the upper portion of the front portion of the lifting platform.
  • the linear laser emitting device 1 can be placed at the bottom of the front of the lifting platform, and directed to the reflecting plate at a 45-degree angle at the bottom of the rear of the lifting table.
  • the linear laser emitting device 1 may be disposed at the bottom of the front portion of the lifting platform, and may be directed to the reflecting surface at the upper portion of the front portion of the lifting platform; or
  • the rear bottom emits a linear laser horizontally forward
  • the front bottom portion of the lifting platform has a reflecting plate of about 45 degrees, and the reflecting plate vertically reflects the linear laser beam emitted rearward to the reflecting surface of the front upper portion of the lifting platform. 3 on.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un capteur utilisé pour une détection d'obstacle de véhicules. Le capteur comprend au moins un module d'imagerie numérique (2), un dispositif d'émission laser linéaire (1) et au moins un réflecteur (31) ou un prisme réfléchissant (32) ou un tube de guidage de lumière comportant une surface réfléchissante (3). Le dispositif d'émission laser linéaire (1) envoie un signal laser à la surface réfléchissante (3). Une ou plusieurs surfaces réfléchissantes (3) forment un trajet optique de lasers linéaires émis par le dispositif d'émission laser linéaire (1) une ou plusieurs fois par réflexion avant que les lasers linéaires ne quittent un ensemble entier de dispositif d'émission de signal de capteur. Les surfaces réfléchissantes (3) sont des réflecteurs en forme de bande longue (31) ou des prismes réfléchissants (32) ou des tubes de guidage de lumière qui sont cohérents avec des angles d'ouverture des lasers linéaires. Les surfaces réfléchissantes (3) sont des surfaces planes ou des surfaces incurvées dans une direction de bande longue. Le module d'imagerie numérique (2) sert principalement à réfléchir des lignes de projection des lasers linéaires à l'avant de véhicules sur un élément photosensible à CCD (ou à CMOS) du module d'imagerie. Conformément à des formes de position des lasers linéaires sur l'élément photosensible, il peut être déterminé si les lignes de projection des lasers sur le sol sont occultées par d'autres objets (obstacles) ou non.
PCT/CN2018/080407 2018-03-25 2018-03-25 Capteur de détection d'obstacle de véhicules WO2019183742A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/080407 WO2019183742A1 (fr) 2018-03-25 2018-03-25 Capteur de détection d'obstacle de véhicules

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/080407 WO2019183742A1 (fr) 2018-03-25 2018-03-25 Capteur de détection d'obstacle de véhicules

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WO2019183742A1 true WO2019183742A1 (fr) 2019-10-03

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